International Journal of Robotics Research
International Journal of Robotics Research
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
The actuator with mechanically adjustable series compliance
IEEE Transactions on Robotics
Learning impedance control of antagonistic systems based on stochastic optimization principles
International Journal of Robotics Research
Variable impedance actuators: A review
Robotics and Autonomous Systems
Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots
Robotics and Autonomous Systems
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Different, adaptable, passive-compliant actuators have been developed recently such as the antagonistic setup of two Series Elastic Actuators, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, the Actuator with Mechanically Adjustable Series Compliance, and the Variable Stiffness Actuator. The main purpose of these designs is to reduce the energy consumption of walking/running robots and prostheses. This paper presents a design formulation to link the different mechanical designs together, and a study on the power consumption of these actuators.